public MyNavmeshManager(MyRDPathfinding rdPathfinding, Vector3D center, Vector3D forwardDirection, int tileSize, int tileHeight, int tileLineCount, MyRecastOptions recastOptions)
{
Vector3 vector = new Vector3(ran.NextFloat(), ran.NextFloat(), ran.NextFloat());
vector -= Math.Min(vector.X, Math.Min(vector.Y, vector.Z));
vector /= Math.Max(vector.X, Math.Max(vector.Y, vector.Z));
this.m_debugColor = new Color(vector);
this.m_tileSize = tileSize;
this.m_tileHeight = tileHeight;
this.m_tileLineCount = tileLineCount;
this.Planet = this.GetPlanet(center);
this.m_heightCoordTransformationIncrease = 0.5f;
float cellSize = 0.2f;
this.m_recastOptions = recastOptions;
float num2 = (this.m_tileSize * 0.5f) + (this.m_tileSize * ((float)Math.Floor((double)(this.m_tileLineCount * 0.5f))));
float num3 = this.m_tileHeight * 0.5f;
this.m_border = this.m_recastOptions.agentRadius + (3f * cellSize);
float[] bMin = new float[] { -num2, -num3, -num2 };
float[] bMax = new float[] { num2, num3, num2 };
this.m_rdWrapper = new MyRDWrapper();
this.m_rdWrapper.Init(cellSize, (float)this.m_tileSize, bMin, bMax);
Vector3D vectord = Vector3D.CalculatePerpendicularVector(-Vector3D.Normalize(MyGravityProviderSystem.CalculateTotalGravityInPoint(center)));
this.m_navmeshOBBs = new MyNavmeshOBBs(this.Planet, center, vectord, this.m_tileLineCount, this.m_tileSize, this.m_tileHeight);
this.m_debugTileSize = new int?[this.m_tileLineCount][];
for (int i = 0; i < this.m_tileLineCount; i++)
{
this.m_debugTileSize[i] = new int?[this.m_tileLineCount];
}
this.m_extendedBaseOBB = new MyOrientedBoundingBoxD(this.m_navmeshOBBs.BaseOBB.Center, new Vector3D(this.m_navmeshOBBs.BaseOBB.HalfExtent.X, (double)this.m_tileHeight, this.m_navmeshOBBs.BaseOBB.HalfExtent.Z), this.m_navmeshOBBs.BaseOBB.Orientation);
this.m_navInputMesh = new MyNavigationInputMesh(rdPathfinding, this.Planet, center);
}
public MyNavmeshManager(MyRDPathfinding rdPathfinding, Vector3D center, Vector3D forwardDirection, int tileSize, int tileHeight, int tileLineCount, MyRecastOptions recastOptions)
{
m_tileSize = tileSize;
m_tileHeight = tileHeight;
m_tileLineCount = tileLineCount;
Planet = GetPlanet(center);
m_heightCoordTransformationIncrease = 0.5f;
float cellSize = RECAST_CELL_SIZE;
m_recastOptions = recastOptions;
float horizontalOrigin = (m_tileSize * 0.5f + m_tileSize * (float)Math.Floor(m_tileLineCount * 0.5f));
var verticalOrigin = m_tileHeight * 0.5f;
m_border = m_recastOptions.agentRadius + 3 * cellSize;
float[] bmin = new float[3] {
-horizontalOrigin, -verticalOrigin, -horizontalOrigin
};
float[] bmax = new float[3] {
horizontalOrigin, verticalOrigin, horizontalOrigin
};
m_rdWrapper = new MyRDWrapper();
m_rdWrapper.Init(cellSize, m_tileSize, bmin, bmax);
Vector3D gravityVector = -Vector3D.Normalize(GameSystems.MyGravityProviderSystem.CalculateTotalGravityInPoint(center));
var direction = Vector3D.CalculatePerpendicularVector(gravityVector);
m_navmeshOBBs = new MyNavmeshOBBs(Planet, center, direction, m_tileLineCount, m_tileSize, m_tileHeight);
m_debugTileSize = new int?[m_tileLineCount][];
for (int i = 0; i < m_tileLineCount; i++)
{
m_debugTileSize[i] = new int?[m_tileLineCount];
}
m_extendedBaseOBB = new MyOrientedBoundingBoxD(m_navmeshOBBs.BaseOBB.Center,
new Vector3D(m_navmeshOBBs.BaseOBB.HalfExtent.X, m_tileHeight, m_navmeshOBBs.BaseOBB.HalfExtent.Z),
m_navmeshOBBs.BaseOBB.Orientation);
m_navInputMesh = new MyNavigationInputMesh(rdPathfinding, Planet, center);
}
private MyRecastOptions GetRecastOptions(MyCharacter character)
{
MyRecastOptions options1 = new MyRecastOptions();
options1.cellHeight = 0.2f;
options1.agentHeight = 1.5f;
options1.agentRadius = 0.5f;
options1.agentMaxClimb = 0.6f;
options1.agentMaxSlope = 60f;
options1.regionMinSize = 1f;
options1.regionMergeSize = 10f;
options1.edgeMaxLen = 50f;
options1.edgeMaxError = 3f;
options1.vertsPerPoly = 6f;
options1.detailSampleDist = 6f;
options1.detailSampleMaxError = 1f;
options1.partitionType = 1;
return(options1);
}
public void InitializeNavmesh(Vector3D center)
{
this.m_isNavmeshInitialized = true;
float cellSize = 0.2f;
this.m_singleTileSize = 20;
this.m_tileLineCount = 50;
this.m_singleTileHeight = 70;
MyRecastOptions options1 = new MyRecastOptions();
options1.cellHeight = 0.2f;
options1.agentHeight = 1.5f;
options1.agentRadius = 0.5f;
options1.agentMaxClimb = 0.5f;
options1.agentMaxSlope = 50f;
options1.regionMinSize = 1f;
options1.regionMergeSize = 10f;
options1.edgeMaxLen = 50f;
options1.edgeMaxError = 3f;
options1.vertsPerPoly = 6f;
options1.detailSampleDist = 6f;
options1.detailSampleMaxError = 1f;
options1.partitionType = 1;
this.m_recastOptions = options1;
float num2 = (this.m_singleTileSize * 0.5f) + (this.m_singleTileSize * ((float)Math.Floor((double)(this.m_tileLineCount * 0.5f))));
float num3 = this.m_singleTileHeight * 0.5f;
this.m_border = this.m_recastOptions.agentRadius + (3f * cellSize);
float[] bMin = new float[] { -num2, -num3, -num2 };
float[] bMax = new float[] { num2, num3, num2 };
this.rdWrapper = new MyRDWrapper();
this.rdWrapper.Init(cellSize, (float)this.m_singleTileSize, bMin, bMax);
Vector3D forwardDirection = Vector3D.CalculatePerpendicularVector(-Vector3D.Normalize(MyGravityProviderSystem.CalculateTotalGravityInPoint(center)));
this.UnloadData();
this.m_navmeshOBBs = new MyNavmeshOBBs(this.GetPlanet(center), center, forwardDirection, this.m_tileLineCount, this.m_singleTileSize, this.m_singleTileHeight);
this.m_meshCenter = center;
this.m_visualNavmesh.Clear();
}
//private NavmeshOBBs m_navmeshOBBs;
#region NavmeshOBBs class
/*
// TODO: class should have a datastructure to encapsulate OBB with their coordinate and gravity vector
/// <summary>
/// Class that contains navmesh OBBs
/// The middle of the matrix has 0,0 (x,y) coordinate, left is -x, bottom is -y
/// ATTENTION -> the above is not true anymore -> search for the truth
/// </summary>
private class NavmeshOBBs
{
#region Fields
private MyOrientedBoundingBox?[][] m_obbs;
private float m_tileHalfSize, m_tileHalfHeight;
Vector3D m_centerPoint;
#endregion
public int OBBsPerLine { get; private set; }
#region Contructor
// TODO: accept a rotation so we define what is front,back,left, right....
// or maybe notttttt
public NavmeshOBBs(Vector3D centerPoint, int obbsPerLine, int tileSize, int tileHeight)
{
// There will always be an odd number of obbs in a line
OBBsPerLine = obbsPerLine;
if (OBBsPerLine % 2 == 0)
OBBsPerLine += 1;
m_tileHalfSize = tileSize * 0.5f;
m_tileHalfHeight = tileHeight * 0.5f;
m_centerPoint = centerPoint;
m_obbs = new MyOrientedBoundingBox?[OBBsPerLine][];
for (int i = 0; i < OBBsPerLine; i++)
m_obbs[i] = new MyOrientedBoundingBox?[OBBsPerLine];
Initialize();
}
#endregion
#region public Methods
/// <summary>
/// Return the OBB at the specific coordinate or null, if is out of bounds
/// </summary>
public MyOrientedBoundingBox? GetOBB(int coordX, int coordY)
{
if (coordX < 0 || coordX >= OBBsPerLine ||
coordY < 0 || coordY >= OBBsPerLine)
return null;
return m_obbs[coordY][coordX];
}
public MyOrientedBoundingBox? GetOBB(Vector3D worldPosition)
{
// TODO: silly search needs to get smarter
foreach (var obbLine in m_obbs)
foreach(var obb in obbLine)
{
Vector3D diff = obb.Value.Center - worldPosition;
if (Math.Abs(diff.X) <= obb.Value.HalfExtent.X &&
Math.Abs(diff.Y) <= obb.Value.HalfExtent.Y &&
Math.Abs(diff.Z) <= obb.Value.HalfExtent.Z)
return obb;
}
return null;
}
/// <summary>
/// TEMPORARY - Returns the coords for the OBB - remove this after creating a data structure to encapsulate...
/// </summary>
public bool GetCoords(MyOrientedBoundingBoxD obb, out int xCoord, out int yCoord)
{
xCoord = yCoord = -1;
for (int i = 0; i < m_obbs.Length; i++)
for (int j = 0; j < m_obbs[0].Length; j++)
if (obb == m_obbs[i][j])
{
xCoord = j;
yCoord = i;
return true;
}
return false;
}
/// <summary>
/// Returns a list of OBBs intersected by a line
/// </summary>
public List<MyOrientedBoundingBoxD> GetIntersectedOBB(Line line)
{
//List<MyOrientedBoundingBoxD> intersectedOBBs = new List<MyOrientedBoundingBoxD>();
Dictionary<MyOrientedBoundingBox, float> intersectedOBBs = new Dictionary<MyOrientedBoundingBox, float>();
foreach (var obbLine in m_obbs)
foreach (var obb in obbLine)
if (obb.Value.Contains(ref line.From) ||
obb.Value.Contains(ref line.To) ||
obb.Value.Intersects(ref line).HasValue)
//intersectedOBBs.Add(obb.Value);
intersectedOBBs.Add(obb.Value, Vector3D.Distance(line.From, obb.Value.Center));
//if (intersectedOBBs.Count > 0)
// ;
return intersectedOBBs.OrderBy(d => d.Value).Select(kvp => kvp.Key).ToList();
}
#endregion
#region Private Methods
private void Initialize()
{
/* MyOBBs corners
* 00 - Upper Front Left <--
* 01 - Upper Back Left <--
* 02 - Lower Back Left
* 03 - Lower Front Left
* 04 - Upper Front Right <--
* 05 - Upper Back Right <--
* 06 - Lower Back Right
* 07 - Lower Front Right
*/
/*
// TODO: use GetOBBCorners
int middleCoord = (OBBsPerLine - 1) / 2;
MyOrientedBoundingBoxD obb = CreateOBB(m_centerPoint);
m_obbs[middleCoord][middleCoord] = obb;
Vector3[] corners = new Vector3[8];
obb.GetCorners(corners, 0);
Vector3D offset = corners[4];
Vector3D newGravity = -Vector3D.Normalize(MyGravityProviderSystem.CalculateTotalGravityInPoint(offset));
Vector3D newPoint = Vector3D.Transform(m_centerPoint - offset, Quaternion.CreateFromAxisAngle(newGravity, (float)(-90 * Math.PI / 180f)));
Vector3D centerHorizontalDiff = newPoint - (m_centerPoint - offset);
// //
// For each point, calculate up and down points //
Vector3D newCenter = m_centerPoint;
Vector2I index = new Vector2I(middleCoord,middleCoord);
for (int i = middleCoord; i >= 0; i--)
{
FillOBBLine(newCenter, index);
newCenter -= centerHorizontalDiff;
index += new Vector2I(-1,0);
}
newCenter = m_centerPoint;
index.X = index.Y = middleCoord;
for (int i = middleCoord + 1; i < OBBsPerLine; i++)
{
newCenter += centerHorizontalDiff;
index += new Vector2I(1, 0);
FillOBBLine(newCenter, index);
}
}
private void FillOBBLine(Vector3D center, Vector2I currentIndex)
{
Vector3D gravityVector = -Vector3D.Normalize(GameSystems.MyGravityProviderSystem.CalculateTotalGravityInPoint(center));
Vector3D perpedicularVector = Vector3D.CalculatePerpendicularVector(gravityVector);
MyOrientedBoundingBoxD obb = new MyOrientedBoundingBox(center, new Vector3(m_tileHalfSize, m_tileHalfHeight, m_tileHalfSize), Quaternion.CreateFromForwardUp(perpedicularVector, gravityVector));
if (m_obbs[currentIndex.Y][currentIndex.X] == null)
m_obbs[currentIndex.Y][currentIndex.X] = obb;
Vector3[] corners = new Vector3[8];
obb.GetCorners(corners, 0);
Vector3D offset = corners[1];
Vector3D newGravity = -Vector3D.Normalize(MyGravityProviderSystem.CalculateTotalGravityInPoint(offset));
Vector3D newPoint = Vector3D.Transform(center - offset, Quaternion.CreateFromAxisAngle(newGravity, (float)(90 * Math.PI / 180f)));
Vector3D centerVerticalDiff = newPoint - (center - offset);
FillOBBSemiLine(center, centerVerticalDiff, currentIndex, new Vector2I(0, -1));
FillOBBSemiLine(center, -centerVerticalDiff, currentIndex, new Vector2I(0, 1));
}
private void FillOBBSemiLine(Vector3D currentCenter, Vector3D diffVector, Vector2I currentIndex, Vector2I indexAddition)
{
if (currentIndex.X < 0 || currentIndex.X >= OBBsPerLine ||
currentIndex.Y < 0 || currentIndex.Y >= OBBsPerLine)
return;
if(m_obbs[currentIndex.Y][currentIndex.X] == null)
m_obbs[currentIndex.Y][currentIndex.X] = CreateOBB(currentCenter);
FillOBBSemiLine(currentCenter + diffVector, diffVector, currentIndex + indexAddition, indexAddition);
}
private MyOrientedBoundingBoxD CreateOBB(Vector3D center)
{
Vector3D gravityVector = -Vector3D.Normalize(GameSystems.MyGravityProviderSystem.CalculateTotalGravityInPoint(center));
Vector3D perpedicularVector = Vector3D.CalculatePerpendicularVector(gravityVector);
return new MyOrientedBoundingBox(center, new Vector3(m_tileHalfSize, m_tileHalfHeight, m_tileHalfSize), Quaternion.CreateFromForwardUp(perpedicularVector, gravityVector));
}
#endregion
}
*/
#endregion
public void InitializeNavmesh(Vector3D center)
{
m_isNavmeshInitialized = true;
float cellSize = 0.2f;
m_singleTileSize = 20;
m_tileLineCount = 50;
m_singleTileHeight = 70;
//m_semiColumnCount = ((m_singleTileHeight / m_singleTileSize) - 1) / 2;
m_recastOptions = new MyRecastOptions()
{
cellHeight = 0.2f,
agentHeight = 1.5f,
agentRadius = 0.5f,
agentMaxClimb = 0.5f,
agentMaxSlope = 50,
regionMinSize = 1,
regionMergeSize = 10,
edgeMaxLen = 50,
edgeMaxError = 3f,
vertsPerPoly = 6,
detailSampleDist = 6,
detailSampleMaxError = 1,
partitionType = 1
};
float horizontalOrigin = (m_singleTileSize * 0.5f + m_singleTileSize * (float)Math.Floor(m_tileLineCount * 0.5f));
var verticalOrigin = m_singleTileHeight * 0.5f;
m_border = m_recastOptions.agentRadius + 3 * cellSize;
float[] bmin = new float[3] { -horizontalOrigin, -verticalOrigin, -horizontalOrigin };
float[] bmax = new float[3] { horizontalOrigin, verticalOrigin, horizontalOrigin };
rdWrapper = new MyRDWrapper();
rdWrapper.Init(cellSize, m_singleTileSize, bmin, bmax);
//Vector3D direction = MySession.Static.ControlledEntity.ControllerInfo.Controller.Player.Character.WorldMatrix.Forward;
Vector3D gravityVector = -Vector3D.Normalize(GameSystems.MyGravityProviderSystem.CalculateTotalGravityInPoint(center));
var direction = Vector3D.CalculatePerpendicularVector(gravityVector);
UnloadData();
m_navmeshOBBs = new MyNavmeshOBBs(GetPlanet(center), center, direction, m_tileLineCount, m_singleTileSize, m_singleTileHeight);
// TODO: m_meshCenter is used for pathfinding position transformation -> probably use the center point of the OBB
m_meshCenter = center;
// To get the center point difference
//var planet = GetPlanet(center);
//int halfMaxSize = (int)(m_singleTileSize / 2f);
//MyNavigationInputMesh.RefreshCache();
m_visualNavmesh.Clear();
}
